无人驾驶集装箱卡车相对自动化场桥高精度定位停车方法

• Format: Patent
• Language: Chinese
• Published: 18.02.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

本发明涉及一种无人驾驶集装箱卡车相对自动化场桥高精度定位停车方法，其特征是：采用激光雷达和视觉传感器将无人驾驶集装箱卡车与自动化场桥之间的相对定位区间调整至10米以内；通过自动化场桥拖挂定位检测信息，修正无人驾驶集装箱卡车与自动化场桥之间的相互位置，根据相对定位信息，利用定位有限状态机和步进停车控制器，实现无人驾驶集装箱卡车场桥作业的高精度定位。有益效果：本发明解决了无人驾驶集装箱卡车在堆场作业时GPS/北斗定位误差的问题，可以实现无人驾驶集装箱卡车和自动化场桥的相对精确定位，同时减少无人驾驶集装箱卡车位置姿态调整的次数，实现精确停车，提高自动化场桥与集装箱卡车之间完成装箱、卸箱的效率。 The invention relates to a high-precision positioning parking method for an unmanned container truck relative to an automatic field bridge. The method comprises the steps of: employing laser radar anda visual sensor to regulate a relative location interval between an unmanned container truck and an automatic field bridge in a range within 10m; through the automatic field bridge trailing locationdetection information, correcting a mutual position between the unmanned container truck and the automatic field bridge, and according to the relative location information, employing a location finite-state machine and a stepping parking controller to achieve the high-precision location of unmanned container truck field bridge